CN111616804B

CN111616804B - Surgical drape and system including a surgical drape and an attached sensor

Info

Publication number: CN111616804B
Application number: CN202010492190.9A
Authority: CN
Inventors: R·L·迪万根佐; M·L·哈努史克; G·J·拉伯维尔; P·W·莫尔; T·J·莫里塞特; J·P·奥尔班三世
Original assignee: Intuitive Surgical Operations Inc
Current assignee: Intuitive Surgical Operations Inc
Priority date: 2014-03-17
Filing date: 2015-03-17
Publication date: 2024-04-09
Anticipated expiration: 2035-03-17
Also published as: CN106232049A; WO2015142824A1; EP3119331B1; EP3119331A1; KR102441193B1; EP4049611A1; US10932877B2; JP6680686B2; US20170086934A1; US20210267703A1; CN111616804A; JP2020028775A; EP3119331A4; JP7170789B2; KR20220126797A; JP2021142332A; JP2017512547A; KR102510796B1; KR20160132899A; EP4049611B1

Abstract

A surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of an arm or a main column of the patient side cart. The attachment device feature may be connected to the body. The attachment device feature may be configured to mount the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. The attachment device feature may be detectable by a sensor in an installed position of the surgical drape on the arm or main column. At least one of the main column and the arm may include a sensor to detect an attachment device feature of the surgical drape.

Description

Surgical drape and system including a surgical drape and an attached sensor

The present application is a divisional application of chinese patent application 201580018940.6 (PCT/US 2015/020929) entitled "surgical drape and system comprising surgical drape and attached sensor" filed on 3 months 17 2015.

Cross reference to related applications

The present application claims priority from U.S. provisional application No.61/954,187, filed on 3.17 at 2014, which is incorporated by reference in its entirety.

Technical Field

Aspects of the present disclosure relate to surgical drapes for components of a surgical system and related devices and methods.

Background

Remotely controlled surgical instruments are commonly used in minimally invasive medical procedures, which can include teleoperated surgical instruments as well as manually operated (e.g., laparoscopic, thoracoscopic) surgical instruments. During a surgical procedure, a patient side cart of the teleoperated surgical system is brought into proximity with a patient. As a result, portions of the patient side cart can be in contact with bodily fluids and other non-bactericidal substances and/or surfaces. Because the motor, electronics, and/or other components of the arm of the patient side cart may be damaged by the sterilization process, a portion of the arm has been covered with a surgical drape during a surgical procedure to minimize or eliminate the need to replace and/or perform sterilization of the arm.

While surgical drapes (surgical drapes) have been effective, further improvements to surgical drapes are desired. For example, it may be desirable to facilitate the installation and management of drapes in preparation for surgical procedures.

Disclosure of Invention

Exemplary embodiments of the present disclosure may address one or more of the above problems and/or may exhibit one or more of the above desirable features. Other features and/or advantages may become apparent based on the following description.

According to at least one example embodiment, a surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of an arm or a main column of the patient side cart. The attachment device feature may be connected to the body. The attachment device feature may be configured to mount the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. The attachment device feature may be detectable by a sensor in an installed position of the surgical drape on the arm or main column.

According to another exemplary embodiment, a patient side cart for a teleoperated surgical system may include: a base; a main column connected to the base; and an arm connected to the main column to support a surgical instrument. At least one of the main column and the arm may include a sensor in a mounting position of a surgical drape on the arm or main column, the sensor detecting the presence of an attachment device feature of the surgical drape.

According to another exemplary embodiment, a surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of a main column of the patient side cart. The attachment device feature may be configured to mount the surgical drape to the main column.

According to another exemplary embodiment, a method of installing a surgical drape for a patient side cart of a surgical system may include detecting the presence of an attachment device feature of the surgical drape. Wherein the surgical drape is in an installed state over a portion of the patient side cart if the presence of the attachment device feature is detected. The method may further include transmitting feedback regarding the installation status of the surgical drape on the portion of the patient side cart based on the detection.

Additional objects, features, and/or advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure and/or the claims. At least some of these objects and advantages may be realized and attained by means of the elements and combinations particularly pointed out in the appended claims.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims; rather, the claims should be looked to in order to judge the full breadth of the claims, including equivalents.

Drawings

The disclosure can be understood from the following detailed description alone or in combination with the accompanying drawings. The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate one or more exemplary embodiments of the present teachings and, together with the description, serve to explain certain principles and operations.

Fig. 1 is a perspective view of a patient side cart according to an exemplary embodiment.

Fig. 2 is a side view of a patient side cart with a surgical drape schematically shown, according to an example embodiment.

FIG. 3 is a perspective view of a surgical drape according to an example embodiment.

Fig. 4 is a perspective view of a portion of a patient side cart in accordance with an exemplary embodiment.

Fig. 5 is a top view of a magnetic attachment according to an exemplary embodiment.

Fig. 6 is a top view of a magnetic attachment according to another exemplary embodiment.

Fig. 7 is a top view of a magnetic attachment according to yet another exemplary embodiment.

Fig. 8 is a top view of a magnetic attachment according to another exemplary embodiment.

FIG. 9 is a perspective view of a portion of a patient side cart with a surgical drape schematically shown, according to an example embodiment.

FIG. 10 is a side view of a surgical drape and a portion of a patient side cart in an unattached state in accordance with an example embodiment.

FIG. 11 shows the surgical drape and patient side cart portion of FIG. 10 in an attached state.

FIG. 12 is a side view of a portion of a surgical drape and a patient side cart in an unattached state in accordance with an example embodiment.

FIG. 13 is a perspective view of a handling member for a drape according to an example embodiment.

FIG. 14 is a cross-sectional view of a drape attached to a handling member according to an example embodiment.

Fig. 15 is a plan view of a processing member including alignment holes according to an exemplary embodiment.

Fig. 16 is a plan view of the processing member of fig. 15, showing the opposite side of fig. 15.

Fig. 17 is a plan view of a processing member including two attachment devices according to an exemplary embodiment.

FIG. 18 is a plan view of a drape including a container according to an example embodiment.

FIG. 19 is a side view of the drape of FIG. 18.

Fig. 20 is a side view of a cross bar (spar) of an arm of a patient side cart in accordance with an exemplary embodiment, with a carriage on the cross bar in a retracted position.

Fig. 21 shows the cross bar of fig. 20 with the carriage in the inserted position.

FIG. 22 is a top view of a drape including a rail clip, according to an example embodiment.

Fig. 23 is a perspective view of a rail clip according to an exemplary embodiment.

Fig. 24 shows another perspective view of the rail clip of fig. 23.

FIG. 25 is a side view of a cross bar of an arm of a patient side cart covered with a drape, with a carriage on the cross bar in an insertion position, according to an example embodiment.

Fig. 26 shows the crossbar of fig. 25 with the carriage in a retracted position.

FIG. 27 is a perspective view of a drape including malleable strips forming channels in the drape according to an example embodiment.

Fig. 28 is a cross-sectional view of a magnet and a metal member according to an exemplary embodiment.

Detailed Description

The specification and drawings, which illustrate exemplary embodiments, are not to be considered limiting. Various mechanical, compositional, structural, electrical, and operational changes may be made without departing from the scope of this description and the claims (including equivalents). In some instances, well-known structures and techniques have not been shown or described in detail in order not to obscure the disclosure. The same numbers will be used throughout two or more drawings to refer to the same or like elements. Additionally, elements and their associated features described in detail with respect to one embodiment (where practicable) may be included in other embodiments not explicitly shown or described. For example, if an element is described in detail with reference to one embodiment without reference to a second embodiment, the element may still be required to be included in the second embodiment.

For the purposes of this specification and the appended claims, unless otherwise indicated, all numbers expressing quantities, percentages or proportions used in the specification and claims, and other numerical values, are to be understood as being modified in all instances by the term "about" to the extent that they have not so modified. Accordingly, unless indicated to the contrary, the numerical parameters set forth in the following specification and attached claims are approximations that may vary depending upon the desired properties sought to be obtained. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should at least be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.

It should be noted that, as used in this specification and the appended claims, any singular usage of the singular forms "a," "an," and "the" and any words include plural referents unless expressly and unequivocally limited to one referent. As used herein, the term "include" and grammatical variants thereof are intended to be non-limiting such that recitation of items in a list is not to the exclusion of other like items that can be substituted or added to the listed items.

Furthermore, the terms of the specification are not intended to limit the disclosure or claims. For example, spatially relative terms (e.g., "below," "lower," "upper," "proximal," "distal," and the like) may be used to describe one element or feature's relationship to another element or feature as illustrated in the orientation of the figures. In addition to the positions and orientations shown in the figures, these spatially relative terms are intended to encompass different positions (i.e., locations) and orientations (i.e., rotational arrangements) of the device in use or operation. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be "above" or "over" the other elements or features. Thus, the exemplary term "below" can include both the position and orientation above and below. The device may be oriented in other ways (rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein interpreted accordingly. The relative proximal and distal directions of the surgical instrument are labeled in the figures.

The present disclosure contemplates various surgical drapes for covering portions of a patient side cart of a teleoperated surgical system, including features for facilitating installation of the surgical drape. For example, features may be provided to facilitate handling of the drape to facilitate how the drape is held and to facilitate maintenance of the sterile field. In another example, the system may sense whether a drape is installed and provide feedback to the user regarding the status of the drape installation. Further, for example, the material of the drape may be selected based on the particular purpose of use of the drape.

Exemplary embodiments of the present disclosure contemplate that the surgical drape is used to cover at least a portion of an arm of a patient side cart or at least a portion of a main column of a teleoperated surgical system. Surgical drapes according to various exemplary embodiments, such as when used to cover a portion of an arm of a patient side cart, may be made of, for example, thermoplastic polyurethane, ultra high molecular weight polyethylene, low density polyethylene, or high density polyethylene, nylon, polytetrafluoroethylene, polypropylene, polyethylene terephthalate (PET), or polyester. In another example, the surgical drape, as when used to cover at least a portion of the main column of a cart, may be made of, for example, low density polyethylene. The surgical drape may include attachment device features, such as, for example, a metallic member (e.g., a ferrous metallic member), or a magnet. The surgical drape may include a cable support, such as, for example, a hook, connected to the drape so that the cable support is conveniently accessible by a user. The cable support may comprise an attachment device to attach the cable support to an object at least partially covered by the drape. The attachment device of the cable support may be separate and distinct from the attachment device for the drape, or may be the same attachment device. The features may facilitate installation of the drape, such as, for example, handling components, and may include alignment holes, containers for a user to insert his or her hand into the interior, sterile boundary indicators, rail clips, and/or malleable strips for shaping the drape to form the drape into a snug fit, or to form the drape into a shape extending away from the covered object, such as, for example, into a channel shape or a compact fold.

Exemplary embodiments of the present disclosure further contemplate a patient side cart of a teleoperated surgical system, wherein the cart includes an attachment mechanism to couple with and secure a drape. The cart may include, for example, a base; a main column connected to the base; and at least one arm connected to the main column to support a surgical instrument. At least one of the main column and the arm may include an attachment device feature to connect the surgical drape. The attachment device may be a metal member (such as, for example, a ferrous metal member) or a magnet. For example, the magnets may have a ring, circle, square, rectangle, or other shape. At least one of the main column and the arm may further include a sensor to detect that a surgical drape has been installed. The sensor may be, for example, an inductive sensor, such as when the attachment device comprises a metal member and a magnet. According to an example embodiment, each of the arm and the main upright can include an attachment device feature and a sensor.

Referring now to fig. 1, an exemplary embodiment of a patient side cart 100 of a teleoperated surgical system is shown. The teleoperated surgical system may further comprise means for receiving information from a user for controlling the patient A surgeon console (not shown) for input of instruments to the person-side cart 100, and a secondary control/vision cart (not shown), as described in U.S. publication nos. US 2013/03250333 entitled "Multi-Port Surgical Robotic System Architecture (multiport surgical robotic system architecture)" and US publication No. US 2013/03250325035 entitled "Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator (redundant axis and degrees of freedom of hardware-limited remote center robotic manipulator)" published on, for example, month 5 of 2013, each of which is incorporated herein by reference in its entirety. By way of non-limiting example, teleoperated surgical systems of the type contemplated by the present disclosure include da available from intuitive surgical corporationA surgical system.

The patient side cart 100 may include a base 102, a main column 104, and a main boom 106 connected to the main column 104. The patient side cart 100 may also include a plurality of arms 110, 111, 112, 113, each of which may be connected to the main boom 106. Portions of the arms 110, 111, 112, 113 may include instrument mounts 120 to which instruments 130 may be mounted, as shown for manipulating the arms 110. The arms 110, 111, 112, 113 may be manipulated during a surgical procedure according to commands provided by a user at the surgeon's console. In an exemplary embodiment, the signal(s) or input(s) transmitted from the surgeon console may be transmitted to a control/vision cart that may understand the input(s) and generate command(s) or output(s) to be transmitted to the patient side cart 100 to cause manipulation of the instrument 130 (only one such instrument is mounted in fig. 1) and/or portions of the manipulator arm 110, with the instrument 130 coupled to the manipulator arm 110 at the patient side cart 100.

According to an exemplary embodiment, instrument mount 120 may include an actuation interface assembly 122 and a fitting mount 124, wherein a shaft 132 of instrument 130 extends through fitting mount 124 (and onto the surgical site during the surgical procedure) and a force transfer mechanism 134 of the instrument is coupled with actuation interface assembly 122. The accessory mount 124 may be configured to hold a cannula (not shown) through which the shaft 132 of the instrument 130 may extend to reach the surgical site during a surgical procedure. Actuation interface assembly 122 may include various mechanisms that are controlled to respond to input commands at the surgeon's console and to transfer force to force transfer mechanism 134 to actuate instrument 130.

Although the exemplary embodiment of fig. 1 shows instrument 130 attached only to arm 110 for ease of viewing, instruments may be attached to any and each of arms 110, 111, 112, 113. Instrument 130 may be a surgical instrument having an end effector or may be a camera instrument or other sensing instrument for providing information (e.g., visualization, electrophysiological activity, pressure, fluid flow, and/or other sensed data) of a tele-surgical site during a surgical procedure. In the example of fig. 1, a surgical or camera instrument having an end effector or may be attached to and used with any of the arms 110, 111, 112, 113. However, the embodiments described herein are not limited to the exemplary embodiment of fig. 1, and various other teleoperated surgical system configurations may be used with the exemplary embodiments described herein.

During a surgical procedure using one or more instruments attached to the arm(s) of the patient side cart, the arm(s) are proximal to the surgical site. As a result, the arm(s) of the surgical system may become contaminated. Replacement of the arm involves expense and, although aseptic measures can be taken, aseptic procedures (e.g., autoclaving) risk damaging heat-sensitive components of the arm (e.g., motors, electronics, and other arm components, for example). With these considerations in mind, at least a portion of the arm of the patient side cart may be covered by a surgical drape during a surgical procedure to minimize or eliminate contamination of the arm.

Turning to fig. 2, a side view of a patient side cart 300 of a teleoperated surgical system is shown. The patient side cart 300 may be configured in accordance with the exemplary embodiment of fig. 1, and the patient side cart 300 may include a base 302, a main column 304, and a main boom 306 in accordance with the exemplary embodiment, and a plurality of arms (e.g., arms 310) may be connected to the main boom 306. The arm 310 may include an instrument mount 320, as discussed above with respect to the exemplary embodiment of fig. 1. In the exemplary embodiment of fig. 2, surgical drape 330 for arm 310 is schematically shown in phantom to illustrate how surgical drape 330 may cover at least a portion of arm 310 to minimize or eliminate contamination of arm 310. Surgical drape 330 may include an attachment device 332 to attach surgical drape 330 to arm 310, as discussed in detail below. Although a single attachment device 332 is shown in the exemplary embodiment of fig. 2, the exemplary embodiments described herein are not limited to a single attachment device 332 and may alternatively include, for example, two, three, four, or any number of attachment devices 332.

According to an exemplary embodiment, surgical drape 330 can also include a cable support 334, such as, for example, a hook. The cable support 334 may be used to support cables (e.g., data signal cables, for example) extending from the arms or components of the instrument and/or fiber optic cables extending from an instrument (not shown) (e.g., including an imaging instrument) attached to the arms of the patient side cart 300. Although a single cable support 334 is shown in the exemplary embodiment of fig. 2, the exemplary embodiments described herein are not limited to a single cable support 334 and may alternatively include, for example, two, three, four, or more cable supports 334. Further, a surgical drape 330 may be provided without a cable support 334. While various exemplary embodiments of the drape described herein may include a cable support, the drape may lack a cable support, which may alternatively be connected to a patient side cart. For example, the cable support 334 may alternatively be connected to the arm 310.

According to an exemplary embodiment, sterile adapter 336 may be attached to surgical drape 300 to provide an interface between an instrument (not shown), which is located on a sterile side of surgical drape 300, and arm 310, which is located on a non-sterile side of surgical drape 300. The instrument may be attached to the instrument mount 320 of the arm 310 via a sterile adapter 336. Sterile adapter 336 may be provided to maintain a barrier between the sterile side of surgical drape 300 and the non-sterile side of surgical drape 300, while allowing for the transfer of mechanical and electrical energy and signals between the instrument and arm 310. For example, sterile adapter 336 may serve as an interface between actuation interface assembly 122 and force transfer mechanism 134 of the exemplary embodiment of fig. 1, such that mechanical and electrical energy, as well as signals, may be transferred between actuation interface assembly 122 and force transfer mechanism 134. Various exemplary embodiments of sterile adapters are disclosed in, for example, U.S. patent No. 7,666,191 (titled "Robotic Surgical System with Sterile Surgical Adaptor (robotic surgical system with sterile surgical adapters)") issued on 2/23/2010, which is incorporated herein by reference in its entirety.

Although the surgical drape may be used on the arm of the patient side cart due to the proximity of the arm to the surgical site, the surgical drape may also be used on other portions of the patient side cart that may otherwise be contaminated during the surgical procedure. For example, the main column 304 of the patient side cart 300 may be sufficiently close to the surgical site to potentially contact various substances (e.g., bodily fluids, etc.) and/or other non-sterile surfaces. Accordingly, at least a portion of the main column 304 may be covered with a surgical drape 340, which is schematically illustrated in phantom in the exemplary embodiment of FIG. 2. Surgical drape 340 may include an attachment device 342 to attach surgical drape 340 to main column 304. Although a single attachment device 342 is shown in the exemplary embodiment of fig. 2, the exemplary embodiments described herein are not limited to a single attachment device 342 and may alternatively include, for example, two, three, four, or any number of attachment devices 342. With respect to surgical drape 330, surgical drape 340 may also include one or more cable supports 344 to support cables extending from components of the arm or instrument, although surgical drape 340 may be provided without one or more cable supports 344. According to an exemplary embodiment, the surgical drape 340 may cover the entire main column 304 between the main boom 306 and the base 302, as shown in fig. 2, or the surgical drape may cover a portion of the main column 304 between the main boom 306 and the base 302.

Turning to fig. 3, an exemplary embodiment of a surgical drape 400 is shown. According to the exemplary embodiment of fig. 2, surgical drape 400 may be a surgical drape 330 for covering at least a portion of arm 310 or a surgical drape 340 for covering at least a portion of main column 304. The surgical drape 400 may include a body 410 covering at least a portion of the arm 310 of the patient side cart or at least a portion of the main column 304. The body 410 may be in the form of, for example, a sheet, tube, or other form familiar to those skilled in the art. For ease of viewing, in the exemplary embodiment of fig. 3, body 410 is shown as having a generally flat rectangular shape, but the exemplary embodiments described herein are not limited to flat rectangular body 410 and may be via other shapes and/or shapes other than those described in the exemplary embodiment of fig. 3. For example, the body of the surgical drape may have a shape corresponding to a portion of an arm or main column, which is designed for covering.

Body 410 may be made of a polymeric material suitable for surgical drapes. According to an exemplary embodiment, the body 410 may include, for example, polyethylene, polyurethane, polycarbonate, ultra high molecular weight polyethylene, low density polyethylene, high density polyethylene, nylon, polytetrafluoroethylene, polypropylene, PET, polyester, or combinations thereof. According to an exemplary embodiment, according to the exemplary embodiment of fig. 2, when surgical drape 400 is either surgical drape 330 for covering at least a portion of arm 310 or surgical drape 340 for covering at least a portion of main column 304, body 410 may be made of the same material.

According to another exemplary embodiment, body 410 may be made of different materials based on whether drape 400 is used as surgical drape 330 for covering at least a portion of arm 310 or as surgical drape 340 for covering at least a portion of main column 304. If drape 400 is used as surgical drape 330 for covering at least a portion of arm 310, the material is selected in view of the desired properties of drape 330 for such installations. For example, the drape material may be selected to be pliable (because a portion of arm 310 may be actuated during a surgical procedure), wear resistant (because drape 330 may rub itself when arm 310 is actuated or may contact other objects (e.g., when arm 310 collides with another arm), have a smooth surface to minimize wear between surfaces of the drape, and/or various other properties (e.g., transparent (or translucent), easy to fold, and not prone to chip (low-line)).

According to an exemplary embodiment, when drape 400 is used as surgical drape 330 for covering at least a portion of arm 310, body 410 may be made of, for example, thermoplastic Polyurethane (TPU), ultra-high molecular weight polyethylene (uhmwpe), low Density Polyethylene (LDPE), high Density Polyethylene (HDPE), CSR wrap material (a center supply chamber material, which is typically a natural cellulose fiber), nylon blends, polypropylene, polyester, and other materials known to those skilled in the art. The material of the body 410 may further include fillers to affect the properties of the material used for the body 410. For example, the material of the body 410 may include fillers to affect, for example, the color, texture, and/or antistatic properties of the body 410.

In another example, the material of the body 410 may include a lubricious filler to reduce the tackiness of the material and minimize the material from sticking to or wearing itself, which may also facilitate handling of the drape during installation. According to an exemplary embodiment, the material of the body 410 may have a coefficient of friction ranging from, for example, about 0.10 to about 0.15. According to an exemplary embodiment, the TPU may include a lubricious filler and have a coefficient of friction ranging from, for example, about 0.11 to about 0.13. An example of a TPU that includes a lubricating filler IS material from Polyfilm, USA, with a stock number of IS-2001. Body 410, which is made of various materials as discussed above, may include a coating such as, for example, a Polytetrafluoroethylene (PTFE) coating, such as from DuPont corporationFurther, when drape 400 is used as surgical drape 330 for covering at least a portion of arm 310, body 410 may have a thickness ranging from, for example, about 0.001 inch to about 0.008 inch.

According to an exemplary embodiment, when drape 400 is used as surgical drape 340 for covering at least a portion of main column 304, body 410 may be made of a material having properties suitable for use on main column 304. According to an exemplary embodiment, the body 410 may be made of, for example, TPU, ultra high molecular weight polyethylene, LDPE, HDPE, CSR wrap (a center supply chamber material, which is typically natural cellulose fiber), blended nylon, polypropylene, polyester, and other materials known to those skilled in the art. When used with drape 340, body 410 may be made of a material that minimizes sticking to itself and resists puncture according to an example embodiment. The body 410 may be made of, for example, LDPE, among other materials known to those skilled in the art. According to an exemplary embodiment, the material of the body 410 may include one or more fillers to affect the properties of the material of the body 410. For example, the material of the body 410 may include an antistatic filler to reduce electrostatic charges that may cause the drape to stick to itself or other objects, thereby facilitating handling of the drape. The antistatic filler may be, for example, P/N. Further, the thickness of drape 400 on main column 304 may be less than the thickness of drape 330 of arm 310. Body 410, when used in drape 340, may have a thickness ranging from, for example, about 0.0010 inches to about 0.0015 inches.

Although the body 410 may be shown as a single piece in the exemplary embodiment of fig. 3, the body 410 may include multiple pieces of the various materials discussed above that have been bonded together. The plurality of body panels may be joined, for example, via adhesive bonding, thermal welding, radio frequency welding, and other techniques known to those skilled in the art. According to an exemplary embodiment, when drape 400 is used as surgical drape 330 for covering at least a portion of arm 310, body 410 may be a single layer of material (e.g., any of the materials described herein, or a combination thereof), although multiple layers may also be used.

According to an exemplary embodiment, when drape 400 is used as surgical drape 340 for covering at least a portion of main column 304, body 410 may include multiple layers, but a single layer may also be used. For example, the body 410 for the surgical drape 340 may include three layers, with the outer (first and third) layers being made of a material that minimizes material bonding itself (e.g., such as, for example, LDPE with antistatic filler) and the middle (second) layer being made of a puncture resistant material (e.g., pure LDPE). However, when used as a surgical drape 340, the body 410 for the drape 400 is not limited to three layers and may alternatively include, for example, one, two, three, four, or more layers.

Surgical drape 400 may include one or more attachment devices to attach surgical drape 400 to a portion of a patient side cart that drape 400 is covering. According to an exemplary embodiment, the surgical drape 400 may include a first piece 402 of attachment apparatus. A portion of the patient side cart to which surgical drape 400 is attached may have a corresponding second piece of attachment equipment to which first piece 402 is coupled to attach the drape. Although only one first part 402 of an attachment device is shown in the exemplary embodiment of fig. 3, the exemplary embodiments described herein are not limited to a single attachment device, but may alternatively include two, three, four, or more such attachment devices.

As will be discussed in detail below, the sensors of the patient side cart may be configured to detect when the surgical drape 400 has been attached to the patient side cart (e.g., the arm 310 or the main column 304 of the patient side cart 300). According to an exemplary embodiment, the sensor of the patient side cart may detect when the surgical drape 400 has been attached by detecting the presence of the first part 402 of the attachment device (e.g., the first part 402 interacting with the sensor). The sensor of the patient side cart may be configured to transmit a signal to a controller in the patient side cart once the attachment of the surgical drape 400 has been detected. Otherwise, if the controller has not received a signal from the sensor, the surgical system may be configured to send feedback to the user or other healthcare personnel preparing the surgical system for use. According to an exemplary embodiment, such feedback can include, but is not limited to, audible and/or visual alarms, for example, at a surgeon console and/or an auxiliary unit of a surgical system. Thus, the attachment device 402 and the sensor of the patient side cart may act as cues to mount the drape on one or more portions of the patient side cart.

Surgical drape 400 may include features other than attachment device 402. According to an exemplary embodiment, surgical drape 400 may include one or more attachment devices 412 configured to attach surgical drape 400 to a portion of a patient side cart without interacting with a sensor that detects the attachment of the drape. The attachment device 412 may be selected from, for example, various mechanical fasteners (e.g., snaps), magnetic fasteners, or other types of fasteners known to those skilled in the art. Surgical drape 400 may further include one or more cable supports, such as hooks 404, as discussed above with reference to the exemplary embodiment of fig. 2. According to an exemplary embodiment, the hooks 404 may be attached to the drape 400 itself by bonding the hooks 404 to the body 410 via, for example, adhesive bonding, heat sealing, or other techniques well known to those skilled in the art. By attaching the hooks 404 to the surgical drape 400 rather than to an arm or main column underneath the drape 400, the hooks 404 may be readily accessed by a user to support cables from components or instruments, such as data signal cables or electrical cables from surgical instruments or imaging instruments mounted at a patient side cart. According to an exemplary embodiment, the hooks 404 may be present on a drape for an arm, such as drape 330 for arm 310 of the exemplary embodiment of FIG. 2, but may not be present on a drape for a main column, such as drape 340 for main column 304 of the exemplary embodiment of FIG. 2.

According to an exemplary embodiment, surgical drape 400 may include other structures in combination with or independent of any of the above-described structures. For example, surgical drape 400 may include one or more shaping devices 408 to bend or shape surgical drape 400 around the components that drape 400 is intended to cover. The forming device 408 may be, for example, an malleable strip (e.g., malleable metal strip or wire) configured to substantially maintain the shape into which the strip is bent. The shaping device 408 may be used to shape the surgical drape 400 into a desired shape, such as, for example, by deforming a malleable strip around a portion of a patient side cart, fitting the surgical drape 400 more tightly around a portion of the patient side cart to which the surgical drape 400 is attached, such that the drape 400 has a shape corresponding to the covered portion of the patient side cart. The shaping device may also be used as a weight device to help hold the surgical drape 400 in place. For example, surgical drape 400 may include a shaping device 409 at the bottom of surgical drape 400 that acts as a weight device to hold surgical drape 400 in place.

According to an exemplary embodiment, surgical drape 400 may include sterile adapter 406 (e.g., sterile adapter 336 of the exemplary embodiment of fig. 2) such as when surgical drape 400 is used to cover at least a portion of an arm of a patient side cart, but surgical drape 400 need not include sterile adapter 406 when surgical drape 400 is configured to cover at least a portion of a main column of a patient side cart.

As discussed above with respect to the exemplary embodiment of fig. 3, the attachment device of the surgical drape may include separate pieces (e.g., a first piece and a second piece) configured to engage one another when joined together so that the drape may be attached to the cart. Turning to fig. 4, a perspective view of a portion 500 of a patient side cart to which a surgical drape (such as, for example, surgical drape 400 of the exemplary embodiment of fig. 3) is attached is shown. The patient side cart portion 500 may be, for example, a portion of an arm (e.g., arm 310 of the exemplary embodiment of fig. 2) or a portion of a main column (e.g., main column 304 of the exemplary embodiment of fig. 2).

As shown in the exemplary embodiment of fig. 4, the patient side cart portion 500 may include a second piece 502 of attachment equipment, such as on a surface 510 of the patient side cart portion 500. The second part 502 of the attachment device may be configured to engage the first part of the attachment device on the surgical drape to attach the drape to the patient side cart portion 500, as by engaging the first part 402 of the attachment device of the exemplary embodiment of fig. 3. According to an exemplary embodiment, the attachment device may be a magnetic attachment device. For example, one of the first part 402 and the second part 502 may be a magnet and the other may be a metal member, such as a metal member of iron that will be attracted to the magnet. According to an exemplary embodiment, first part 402 of surgical drape 400 may be a metallic member and second part 502 may be a magnet attracted to the metallic member such that surgical drape 400 is attached to patient side cart portion 500. According to an exemplary embodiment, the first part 402 may be made of a neodymium iron boron alloy or other magnetic alloys known to those skilled in the art in combination with the disclosure, while the second part may be made of a steel alloy or other metal alloys known to those skilled in the art in combination with the disclosure.

The parts for the magnetic attachment device may have various shapes. As shown in the exemplary embodiment of fig. 5, the magnet 520 used in the attachment device (e.g., the second part 502 in the exemplary embodiment of fig. 4) may be annular. The corresponding metal member may be circular. A circular shape (e.g., a ring shape) may facilitate alignment of attachment device parts for the magnet, such as when the drape is attached to a portion of a patient side cart. For example, precise alignment between the corners of the attachment parts is not required when connecting attachment parts having a circular shape. The shape of the magnet and the metal member may facilitate engagement between the magnet and the metal member. Turning to fig. 28, a cross-sectional view of the magnet 1502 and the metal member 1512 is shown. The magnet 1502 and the metal member 1512 may be used, for example, as the first part 402 and the second part 502 in the exemplary embodiments of fig. 3 and 4. The metal member 1512 may include protrusions 1514 to facilitate engagement of the magnet 1502 and the metal member 1512. For example, the protrusion 1514 may center the metal member 1512 on the magnet 1502. When the magnet 1502 has an annular shape with a central aperture 1504, the protrusion 1514 may be received within the central aperture 1504. The protrusions 1514 may also minimize or prevent lateral sliding of the metal member 1512 relative to the magnet 1502. Other shapes may be used for the magnets and metal members of the exemplary embodiments described herein, such as, for example, the circle 530 of the exemplary embodiment of fig. 6, the square 540 of the exemplary embodiment of fig. 7, the rectangle 550 of the exemplary embodiment of fig. 8, and other various shapes.

Turning to fig. 9, the patient side cart portion 610 is shown in a state at least partially covered by a surgical drape 620, wherein the surgical drape 620 is attached to the patient side cart portion 610 via a drape attachment device. Patient side cart portion 610 may be, for example, arm 310 or main column 304 as in the exemplary embodiment of fig. 3, and surgical drape 620 may be surgical drape 330 or 340 as in the exemplary embodiment of fig. 3. The drape attachment device may include a first piece 622 (e.g., a metal member) and a second piece (e.g., a magnet), which in the diagram shown in the exemplary embodiment of fig. 9 is covered by the first piece 622. Surgical drape 620 further includes a cable support 624 (such as, for example, a hanger), which is shown in the exemplary embodiment of fig. 9 in a state of being attached to patient side cart portion 610.

According to an exemplary embodiment, a cable support attachment apparatus may be used to attach a cable support to a patient side cart. While it may be desirable to attach the cable support to the patient side cart such that the cable support is supported, it may be desirable to position the cable support such that it is not covered by a surgical drape and the cable support is easily accessible. Thus, according to an example embodiment, the cable support attachment apparatus may include a first part and a second part configured to engage with the first part to secure the cable support in place. As schematically shown in fig. 4, the second part 504 of the cable support attachment device may be connected to the patient side cart portion 500 such that the cable support may be fixed to and supported by the patient side cart portion 500. In the exemplary embodiment of fig. 9, the cable support 624 is in a state of being attached to the patient side cart portion 610 via the second part 614 of the cable support attachment device, wherein the first part of the cable support attachment device is not visible in fig. 9.

In order to make the cable support easily accessible, the first part of the cable support attachment device may be connected to, or be part of, a cable support attached to the surgical drape. As a result, the cable support 624 may be easily accessible because the cable support 624 is secured to the surface of the surgical drape 620, rather than being located underneath the surgical drape 620, as shown in the exemplary embodiment of fig. 9. Further, even if the cable support 624 is located on the sterile side of the surgical drape 620, the cable support 624 may be attached to or supported by the patient side cart portion 610 via a cable support definitely (posively) attachment device.

Turning to fig. 10, a side view of a surgical drape 710 and a patient side cart portion 700 in a state in which the surgical drape 710 is not mounted is shown, according to an example embodiment. Patient side cart portion 700 may be, for example, arm 310 or main column 304 in the exemplary embodiment of fig. 3, and surgical drape 710 may be surgical drape 330 or 340 in the exemplary embodiment of fig. 3. Surgical drape 710 includes a first piece 712 of a drape coupling device configured to engage with a complementary second piece 702 on portion 700 to attach surgical drape 710 to portion 700. Surgical drape 710 further includes a cable support 716 secured to sterile side 715 of surgical drape 710, which in turn may be attached to patient side cart portion 700 via a cable support connection device. According to an exemplary embodiment, the cable support connection apparatus may include a first piece 714 connected to the surgical drape 710 and extending from a non-sterile side 717 of the surgical drape 710, wherein the second piece 704 is connected to the patient side cart portion 700. The first and second pieces 714, 704 are configured to engage one another such that the cable support 716 is connected to and supported by the patient side cart portion 700, as shown in fig. 11, which illustrates the surgical drape 710 and the patient side cart portion 700.

The cable support attachment device may be a mechanical fastener, a magnetic attachment device, or other type of attachment device known to those skilled in the art. In the exemplary embodiment of fig. 10 and 11, the cable support attachment device is a latch, such as a spring latch or other latch known to those skilled in the art, but the cable support attachment device of the exemplary embodiments disclosed herein is not limited to a latch or mechanical fastener. For example, the first part 714 may be an insert with a protrusion 719, while the second part 704 may be a receiver (e.g., a spring loaded latch 705) into which the protrusion 719 is inserted, thereby attaching the cable support 716 to the patient side cart portion 700, as shown in the exemplary embodiments of fig. 10 and 11. Conversely, the first part 714 may be a receiver and the second part 704 may be an insert that is inserted into the first part 714.

As discussed above in exemplary embodiments, the drape attachment device may be configured to interact with a sensor of a patient side cart. According to an exemplary embodiment, the sensor may be mounted to the patient side cart. For example, a sensor may be used to detect that a surgical drape has been attached to a patient side cart. According to an exemplary embodiment, the first part of the drape attachment device may be configured to interact with a sensor of the patient side cart. Referring to fig. 10 and 11, the sensor 706 may detect the presence of the first piece 712 when the first piece 712 of the drape attachment device attached to the surgical drape 710 engages with the second piece 702 of the drape attachment device attached to the patient side cart portion 700 to attach the surgical drape 710 to the patient side cart portion 700. Sensor 706 may then transmit a signal indicating that surgical drape 710 has been attached to a surgical system, such as including a patient side cart. Thus, in the unattached state shown in fig. 10, the sensor 706 has not detected the presence of the first part 712 and thus the drape; in the attached state shown in fig. 11, however, sensor 706 detects the presence of first part 712 of the drape attachment device, thereby indicating the installation of surgical drape 710.

The sensor configured to detect the presence of the drape attachment device (e.g., a piece of the drape attachment device) may be, for example, an inductive sensor. The inductive sensor may emit a magnetic field that is sensed by the sensor via, for example, an inductive loop. Thus, when the metal member approaches the sensor, the metal member changes inductance, which is detected by the sensor to indicate the presence of the metal member. According to an exemplary embodiment, the first part 712 of the drape attachment device may be a metallic member and the second part 702 may be a magnet, as discussed above with respect to the exemplary embodiment of fig. 4. When the metal member of the first part 712 is engaged with the magnet of the second part 702 to attach the surgical drape 710 to the patient side cart portion 700, the sensor 706 may be an inductive sensor that detects the presence of the first part 712 to determine that the drape 710 has been attached to the patient side cart portion. According to an exemplary embodiment, second part 702 may be a magnet that is axially magnetized, wherein sensor 706 is positioned in the center of the second part (e.g., when second part 702 has a ring shape, as discussed below) to minimize interference between the magnetic field of second part 702 and sensor 706.

Although sensor 706 has been described as an inductive sensor, the exemplary embodiments described herein are not limited to inductive sensors. The sensor for detecting the attachment of the surgical drape may be, for example, an optical sensor. The optical sensor may detect when the drape 710 has been attached to the patient side cart section 700 using, for example, light reflected from the first piece 712 of the drape attachment device or light reflected from the drape 710 itself. In another example, the optical sensor may be a sensor that emits and receives a light beam, but that senses the presence of drape 710 when drape 710 or first piece 712 of the drape attachment device interrupts the light beam. The sensor may also be a capacitive sensor that senses a change in capacitance that occurs when the surgical drape has been attached. In another example, the sensor may be a switch that is mechanically depressed or otherwise toggled by the first part 712 of the drape attachment device or drape 710 when the drape is attached.

According to an exemplary embodiment, the surgical system may be configured to provide feedback to the user regarding the installation status of the surgical drape. The surgical system may provide feedback to a user, such as, for example, at a surgeon console, indicating the installation status of the surgical drape. As a result, the staff may be alerted to install the surgical drape prior to performing the surgical procedure to minimize the occurrence of the surgical drape being uninstalled. For example, if the surgical drape has not been installed, the surgical system may provide visual and/or audible feedback indicating that the surgical drape has not been installed.

According to an exemplary embodiment, the surgical system may be configured to prevent use of the patient side cart and any instruments attached to the patient side cart if the surgical system has not received a signal from the sensor that the drape has been mounted on the patient side cart. For example, according to an exemplary embodiment, the surgical system may be configured to stop (lockout) use of the patient side cart if a signal has not been received that the surgical drape is attached to one or more arms of the patient side cart. Further, according to an example embodiment, the surgical system may be configured to stop using the patient side cart if a signal of one or more primary posts of the surgical drape attached to the patient side cart has not been received. According to another exemplary embodiment, the surgical system may be configured to only need to be used for the patient side cart to mount the surgical drape on the arm and to only provide feedback regarding the status of the surgical drape attached to the main column of the patient side cart.

While the drape attachment device and the cable support attachment device may be separate devices, as shown in the exemplary embodiments of fig. 3, 4, and 9-11, the attachment device may function as both a drape attachment device and a cable support attachment device according to an exemplary embodiment. Turning to fig. 12, a side view of a patient side cart portion 800 and a surgical drape 810 are shown in an unattached state. The surgical drape 810 includes a first attachment member 812, and the patient side cart portion 800 includes a second attachment member 802, the second attachment member 802 configured to engage with the first attachment member 812 to attach the surgical drape 810 to the patient side cart portion 800. The first attachment member 812 may be, for example, a metal member, while the second attachment member 802 may be, for example, a magnet, and the patient side cart portion 800 may include a sensor 806 to detect the presence of the first attachment member 812 or drape 810, as discussed above with reference to the exemplary embodiments of fig. 10 and 11. The surgical drape 810 may further include a cable support 816 connected to the first attachment member 812, such that when the drape 810 is attached to the patient side cart portion 800, the cable support 816 is attached to and supported by the patient side cart portion 800. Thus, the attachment device comprising the first attachment member 812 and the second attachment member 802 may function as both a drape attachment member and a cable support attachment member without requiring separate provision of the attachment device.

The exemplary embodiments described above contemplate other arrangements besides those described herein. For example, attachment devices for surgical drapes may be associated with structures other than those described herein. Turning to fig. 13, an exemplary embodiment of a treatment member 900 for a surgical drape is shown. The processing member 900 can include a body 902 and a first part 910 of an attachment device. The first part 910 of the attachment device may be, for example, a metal member or a magnet, as described above with respect to fig. 3, for attaching a drape. Body 902 may be, for example, a plate structure that provides a larger gripping surface for a user during drape installation than just first piece 910. Further, due to its size, body 902 may extend where it is available to a user when installing and attaching a drape via first piece 910. According to an exemplary embodiment, the treatment member 900 may be located at an upper portion of the drape 340, such as the location of the attachment device 342 shown in fig. 2. Thus, when the user arrives upward to attach the drape 340 to the main column 304, the main body 902 extends where the user has access to more easily attach the drape 340 to the location of the illustrated attachment device 342. The body 902 may be made of, for example, particulate free cardboard, plastic, metal, and other materials known to those skilled in the art.

According to an exemplary embodiment, when the first part 910 of the handling member 900 comprises a metal member, the first part 910 may comprise a male feature, such as a protrusion 912, as shown in fig. 3. The first part 910 and the protrusion 912 may be located on the first side 904 facing and engaging the second part of the treatment member, such as, for example, a magnet on the main upright 304, wherein the second side 906 faces the user and is remote from the main upright 304. The protrusion 912 may help align the first part 910 with the second part during attachment, such as when the second part is a ring magnet, as shown in fig. 4 and 5, by inserting the protrusion 912 into a receiving portion, such as a central groove or hole of a ring. The protrusion 912 may help minimize slippage between the first part 910 and the second part during attachment. Further, while the protrusion 912 is described with reference to the treatment member 900, a drape attachment device that does not include the treatment member 900 may include a metal member having a convex feature, such as the first parts 402, 622, 712 and the first attachment member 812 of the exemplary embodiments of fig. 3 and 9-12.

Turning to fig. 14, a side cross-sectional view of an attachment 920 connected to a drape 940 is shown. The treatment member 920 may be connected to the drape 940 by, for example, connecting a first part 924 (including a protrusion 926) of the attachment device to the body 922 of the treatment member 920 and then attaching the drape 940 over the first part 924 and the body 922. The first piece 924 may be connected to the body 922 by, for example, adhesive bonding, mechanical attachment, and other methods known to those skilled in the art. The drape 940 may be attached to the body 922 and the first piece 924 by, for example, adhesive bonding, mechanical attachment, and other methods known to those skilled in the art.

The processing member 900 may have other arrangements than those described above in the exemplary embodiment of fig. 13. Turning to fig. 15, the treatment member 950 is shown from a side of a first part 960 comprising attachment apparatus, the first part 960 comprising a protrusion 962, which is similar to that described in relation to the treatment member 900 of fig. 13. The side 954 shown in fig. 15 is the side facing the object to which the handling member 950 is attached, such as, for example, the main column 304 in fig. 2. Because side 954 faces away from the user during drape installation, alignment holes 970 may be provided in treatment member 950. As shown in FIG. 16, which shows the user facing side 956 of the processing member 950, the first piece 960 and tab 962 may be covered during drape installation. According to an exemplary embodiment, the object to which the processing member 950 is connected (e.g., the main column 304 in fig. 2) may have an alignment indicator (e.g., a color, pattern, or other visual indicator) having a shape corresponding to the alignment aperture 970. Thus, when the treatment member 950 is connected to an object, the alignment indicator on the object may be visible through the alignment aperture 970 to confirm that the treatment member 950 is properly positioned during the portion of the drape attached to the patient side cart.

The handling member may comprise more than one attachment device to connect the handling member to the object. Turning to fig. 17, an exemplary embodiment of a processing member 980 is shown comprising two first parts 982, 986 of two attachment devices, wherein each comprises a protrusion 984, 988 to engage with a respective second part of an attachment device on the portion of the patient side cart on which the drape is mounted. Further, the processing means of the exemplary embodiments described herein are not limited to one or two attachment devices, but instead comprise, for example, three, four or more attachment devices.

The drape of the example embodiments described herein may include structures that help to maintain the drape during installation of the drape, facilitating maintenance of sterility of the user's hand. Turning to fig. 18, a drape 1000 is shown that includes a first piece 1010 of attachment equipment and a receptacle 1020. The first part 1010 of the attachment device may be configured according to the first part 402 in the exemplary embodiment of fig. 3. Container 1020 may be formed, for example, by folding a portion of drape 1000 and then bonding 1024 an edge of the portion to drape 1000, thereby forming an opening 1022 of container 1020. As shown in fig. 19, which shows a side view of drape 1000, a user may insert his hand into receptacle 1020 via opening 1022 so that the user may lift drape 1000 without touching the outside of drape 1000, such as at a non-sterile portion of drape 1000. Accordingly, container 1020 may facilitate installation of drape 1000, and the user maintains sterility of their hand.

To assist the user in identifying the sterile and non-sterile areas of the drape, a boundary indicator 1030 may be provided to show the boundary between the sterile and non-sterile areas of the drape. Thus, the boundary indicator 1030 may indicate where the user may contact the drape to help a person's sterile hand not contact a non-sterile area of the drape. The boundary indicator 1030 may be, for example, a strip of color, pattern, or other visual indicator, and may be incorporated into the drape via adhesive bonding, printing, molding, or other techniques known to those skilled in the art.

The drape may include features for accommodating moving parts covered by the drape. Fig. 20 shows a side view of a cross bar 1100 at the end of an arm 1102 (e.g., one of the arms 110-113 of fig. 1) of a patient side cart. The rail 1100 can include a fitting mount 1104 (similar to the fitting mount 124 of fig. 1) and a carriage 1106. The carriage 1106 may include, for example, an actuation interface assembly for attaching an instrument, which is similar to the actuation interface assembly 122 of fig. 1, and may be configured to move back and forth along the direction 108 on the rail 1100 to provide translational movement of the instrument (not shown), such as, for example, for insertion or retraction of the instrument through the accessory mount 1104. According to an exemplary embodiment, fig. 20 shows the carriage 1106 in a fully retracted position, while fig. 21 shows the carriage 1106 in a fully inserted position.

Because the carriage 1106 moves back and forth under the drape, the drape may be configured to accommodate movement of the carriage 1106. For example, the carriage 1106 may include an instrument sterile adapter (not shown) to which the drape is attached. However, as the carriage 1106 moves in the direction 1108, the drape also moves with the carriage 1106 as the drape is attached to the carriage 1106, such as by attaching the drape to the instrument sterile adapter and thus to the carriage 1106. Thus, the drape must include enough slack (slack) and material to allow the drape to cover the rail 1100 and move with the carriage 1106, such as when the carriage 1106 is moved to the position shown in FIG. 21. However, when the carriage 1106 is moved to the fully retracted position shown in fig. 2, the excess drape material required to cover the rail 1100 (e.g., when the carriage 1106 is in the position shown in fig. 21) may overflow the end 1101 of the rail 1100 as the carriage 1106 is retracted, and the excess drape material exits the end 1101.

The drape may be configured to accommodate movement of the carriage 1106 and the excess drape material required to cover the crossbar 1100. FIG. 22 shows a drape 1200 that includes a cross bar clip 1210 to attach the drape 1200 to a cross bar. The crossbar clip 1210 may be attached to the end 1202 of the drape 1200, for example, via thermal welding, adhesive bonding, mechanical attachment, and other techniques known to those skilled in the art. As shown in the exemplary embodiment of fig. 23, the rail clip 1300 may have a curved shaped body 1302, which may correspond to the curved surface of the rail. The crossbar clip 1300 may further include an aperture 1310 to facilitate removal of the crossbar clip 1300 from the crossbar. The crossbar clip 1300 may further include one or more fasteners 1320, as shown in fig. 23 and 24, to connect the crossbar clip 1300 to a crossbar.

Turning to fig. 25, an exemplary embodiment of a drape 1200 is shown covering a cross bar 1220 at the end of an arm 1222, similar to the exemplary embodiments of fig. 20 and 21. The drape 1200 may be connected to a crossbar 1220 via a crossbar clip 1210. Thus, as the carriage 1226 is moved along the crossbar 1220 in the direction 1208, such as toward or away from the accessory mount 1224, any excess material of the drape 1200 may be prevented from spilling over the end 1201 of the crossbar 1220 because the end of the drape 1200 is connected to the crossbar 1220 by the crossbar clip 1210. According to an exemplary embodiment, the crossbar end 1201 may be an end of an arm 1222.

The drape 1200 may be loosely fitted around the carriage 1226, as shown in the exemplary embodiments of fig. 25 and 26. According to another exemplary embodiment, the drape 1200 may include a receptacle (not shown) having a shape corresponding to the shape of the carriage 1226 such that the drape 1200 fits around the carriage 1226. For example, the vessel of drape 1200 may be made of the same material as the remainder of drape 1200. In another example, the vessel of drape 1200 may be made of a different material than the remainder of drape 1200, such as, for example, LDPE/polyvinyl acetate (PVA) blends or other drape materials discussed above.

The drape may also include structures to accommodate movement of the carriage 1106, 1226 to minimize or prevent the carriage 1106, 1226 from contacting or otherwise interfering with the drape as the carriage 1106, 1226 moves. Turning to fig. 27, an exemplary embodiment of a drape 1400 is shown that includes a malleable strip 1410. Instead of shaping drape 1400 using malleable strip 1410 to fit tightly around a cross-bar (e.g., cross-bar 1220 of the example embodiment of fig. 25 and 26), malleable strip 1410 may be used to support drape 1400 in a desired shape that provides space between drape 1400 and the portion of the system to which drape 1400 is attached. Thus, malleable strip 1410 may be shaped into a support structure that shapes drape 1400 to extend the shape of drape 1400 away from an object (e.g., a rail) covered by drape 1400 to provide space 1420 between drape 1400 and the object. For example, the malleable strip 1410 may be deformed to shape the drape 1400 such that the space 1420 forms a channel through which the carriage may move, such as when the carriage 1226 moves in the direction 1208 in fig. 25 and 26, minimizing interference with the drape 1400 by the carriage 1226 when the carriage 1226 moves. Further, the shaped drape 1400 used to form the space 1420 may facilitate maintaining the drape 1400 in a position away from the proximal sleeve opening through which instruments are inserted. Accordingly, the distance 1422 between the drape 1400 and the object to which the drape 1400 is attached may be approximately the size of the carriage 1226.

By providing a surgical drape according to example embodiments described herein, surgical drape installation may be facilitated. For example, the attachment devices described herein allow for easy installation and removal of surgical drapes. The surgical drape may include features to facilitate handling of the surgical drape and maintain a sterile field. The surgical system may be configured to provide feedback that the surgical drape has not been installed because the surgical system may sense whether the drape is installed. Further, the drape may be configured to be made of a variety of materials that provide desired properties (such as, for example, abrasion and/or antistatic properties) depending on certain applications.

Further modifications and alternative embodiments will become apparent to those of ordinary skill in the art in view of this disclosure. For example, the apparatus, systems, and methods may include additional components or steps omitted from the diagrams and description for clarity of operation. Accordingly, this description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the disclosure. It is to be understood that the embodiments shown and described herein are to be considered as illustrative. Elements and materials, as well as arrangements of such elements and materials, may be substituted for those shown and described herein, parts and processes may be reversed, and certain features of the present teachings may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of the description herein. Variations may be made in the elements described herein without departing from the scope of the disclosure and the appended claims.

It is to be understood that the specific examples and embodiments set forth herein are not limiting and that modifications in structure, dimensions, materials, and methods may be made without departing from the scope of the disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a full scope of equivalents being indicated by the broad, which are set forth in the claims appended hereto.

Claims

1. A system, comprising:

a patient side cart comprising a main upright and an arm attached to the main upright;

a first surgical drape sized and shaped to cover at least a portion of the arm of the patient side cart,

the first surgical drape includes a first fastener configured to secure the first surgical drape to the arm of the patient side cart;

a second surgical drape sized and shaped to cover at least a portion of the main column of the patient side cart,

the second surgical drape includes a second fastener configured to secure the second surgical drape to the main column of the patient side cart;

A first sensor coupled to the arm of the patient side cart and configured to sense the first fastener in a position of the first surgical drape covering the at least a portion of the arm of the patient side cart;

a second sensor coupled to the main column of the patient side cart and configured to sense the second fastener in a position of the second surgical drape covering the at least a portion of the main column of the patient side cart; and

a controller operatively coupled to the first sensor and the second sensor, the controller configured to:

stopping use of the patient side cart in response to detecting an uncoupled state of the first fastener of the first surgical drape and the arm of the patient side cart, and

one or both of audible or visual feedback is provided in response to detecting an uncoupled state of the second fastener of the second surgical drape with the main column of the patient side cart, feedback indicating the uncoupled state of the second fastener of the second surgical drape with the main column of the patient side cart.

2. The system of claim 1, wherein:

one or both of the first fastener and the second fastener comprise a metal member.

3. The system of claim 1, wherein:

one or both of the first fastener and the second fastener include a magnet.

4. The system of claim 1, wherein:

one or both of the first fastener and the second fastener comprise a mechanical fastener.

5. The system of claim 1, wherein:

one or both of the first sensor and the second sensor comprise one or more of an inductive sensor, an optical sensor, a capacitive sensor, or a mechanical switch.

6. The system of any one of claims 1-5, wherein:

the arm of the patient side cart includes a crossbar portion configured to impart translational motion to a surgical instrument mounted at the arm of the patient side cart; and is also provided with

The first surgical drape includes a clip configured to engage the crossbar portion of the arm of the patient side cart.

7. A surgical drape for a patient side cart of a teleoperated surgical system, the surgical drape comprising:

A body sized and shaped to cover at least a portion of an arm of the patient side cart;

a fastener coupled to the body,

the fastener is configured to secure the surgical drape to the arm of the patient side cart in a position covering the body of the at least a portion of the arm of the patient side cart; and

a clip attached to the body,

the clip is configured to engage with and attach to a crossbar portion of the arm of the patient side cart;

wherein a surgical instrument mounted at the arm of the patient side cart is translatable along the crossbar portion,

wherein the clip is configured to allow a portion of the body to move with a surgical instrument along the rail portion while preventing the body from falling off the rail portion when the portion of the body moves with the surgical instrument along the rail portion.

8. The surgical drape of claim 7, wherein:

the crossbar portion includes a curved surface; and is also provided with

The clip includes a body portion having a curved shape corresponding to the curved surface of the rail portion.

9. The surgical drape of claim 7, wherein:

the clip includes a body portion; and is also provided with

The body portion includes an aperture configured to facilitate removal of the clip from the rail portion.

10. The surgical drape of claim 7, wherein:

the clip includes one or more fasteners configured to couple the clip to the rail portion.

11. The surgical drape of claim 7, wherein:

the clip is attached to the drape by one or more of thermal welding, adhesive bonding, or mechanical attachment.

12. A surgical drape for a patient side cart of a teleoperated surgical system, the surgical drape comprising:

a body sized and shaped to cover at least a portion of an arm of the patient side cart, at least a portion of a main column of the patient side cart, or at least a portion of the arm of the patient side cart and a portion of the main column of the patient side cart;

a metal fastener member connected to the body and configured to secure the body in a position covering the at least a portion of the arm of the patient side cart, the at least a portion of the main column of the patient side cart, or the at least a portion of the arm of the patient side cart and the portion of the main column of the patient side cart, wherein the metal fastener is configured to secure the body in the position by a complementary fastener magnetically coupled to the patient side cart, the metal fastener member comprising:

A plate portion including an outer surface configured to abut one face of the complementary fastener in a coupled state of the fastener with the complementary fastener, and

a protruding portion extending perpendicular to the outer surface of the plate portion configured to be at least partially received within a recess of the complementary fastener so as to constrain a lateral position of the metal fastener relative to the complementary fastener, the recess being recessed from the face of the complementary fastener.

13. The surgical drape of claim 12, wherein:

the plate portion includes a circular shape.

14. The surgical drape of claim 12, wherein:

the plate portion includes a rectangular shape.

15. The surgical drape of claim 12, wherein:

the protruding portion is centrally located on the plate portion.

16. The surgical drape of claim 12, wherein:

the fastener member includes a magnetic material.

17. The surgical drape of claim 12, wherein:

the fastener member includes a ferrous material.

18. The surgical drape of any of claims 12-17, wherein:

the surgical drape further includes one or more malleable strips configured to hold the drape in a selected shape.

19. A system, comprising:

a patient side cart comprising an arm and a main column,

the arm of the patient side cart is configured to support a medical instrument and transmit a force to actuate the medical instrument;

a surgical drape configured to cover at least a portion of the arm of the patient side cart, at least a portion of the main column of the patient side cart, or at least a portion of the arm of the patient side cart and a portion of the main column of the patient side cart;

a first fastener member connected to one of the surgical drape or the patient side cart,

the first fastener member includes a plate portion and a protruding portion,

the plate portion includes an outer surface, and

the protruding portion extends perpendicular to the outer surface of the plate portion; and

a second fastener member connected to the other of the surgical drape or the patient side cart,

the second fastener member includes a face and a recess, the recess recessed from the face, the face configured to abut the plate portion of the first fastener member, the recess configured to receive the protruding portion of the first fastener member;

Wherein one of the first fastener member and the second fastener member is configured to apply a magnetic attractive force to the other of the first fastener member and the second fastener member to magnetically couple the first fastener to the second fastener and secure the surgical drape to the patient side cart,

wherein in a coupled state of the first fastener member and the second fastener member, the projection and recess constrain a lateral position of the first fastener member relative to the second fastener member.

20. The system of claim 19, wherein:

the first fastener member includes a circular shape.

21. The system of claim 19, wherein:

the first fastener member includes a rectangular shape.

22. The system of claim 19, wherein:

the protruding portion is centrally located on the outer surface of the plate portion.

23. The system of claim 19, wherein:

the second fastener member includes an annular shape.

24. The system according to claim 23, wherein:

the groove is defined in a central portion of the annular shape.

25. The system of any one of claims 19 to 24, wherein:

one of the first fastener member and the second fastener member comprises a ferrous material; and is also provided with

The other of the first fastener member and the second fastener member comprises a magnetic material.

26. A method of controlling a system, the system comprising: a patient side cart comprising a main upright and an arm attached to the main upright; a first surgical drape sized and shaped to cover at least a portion of the arm of the patient side cart; and a second surgical drape sized and shaped to cover at least a portion of the main column of the patient side cart; the method comprises the following steps:

detecting a coupled or uncoupled state of a fastener of the first surgical drape and a complementary fastener of the arm of the patient side cart;

detecting a coupled or uncoupled state of a fastener of the second surgical drape and a complementary fastener of the main column of the patient side cart;

stopping use of the patient side cart in response to detecting an uncoupled state of the fastener of the first surgical drape and the complementary fastener of the arm; and is also provided with

Providing audible or visual feedback in response to detecting an uncoupled state of the fastener of the second surgical drape with the complementary fastener of the main column, the feedback indicating the uncoupled state of the fastener of the second surgical drape with the complementary fastener of the main column.

27. The method according to claim 26, wherein:

detection of the uncoupled state of one or both of the fasteners of the first surgical drape and the second surgical drape includes detecting a metallic member by an inductive sensor.

28. A method of installing a surgical drape on a patient side cart including a main column, an arm, and a crossbar portion of the arm configured to impart translational movement to a surgical instrument installed at the arm, the method comprising:

covering at least a portion of one or both of the arm and the main column with a body of the drape;

securing the body of the drape to one or both of the arm and the main stand with a fastener connected to the body of the drape; and

coupling a clip attached to the body of the drape to the crossbar portion of the arm,

Moving a surgical instrument mounted at the arm of the patient side cart translationally along the crossbar portion, wherein the clip is configured to allow a portion of the body to move along the crossbar portion with the surgical instrument;

the body is prevented from falling off the rail portion by the clip while the portion of the body moves along the rail portion with the surgical instrument.

29. A method of installing a surgical drape on a patient side cart including an arm and a main column, the method comprising:

covering at least a portion of one or both of the arm and the main column with a body of the drape; and

securing the body of the drape to the one or both of the arm and the main column by magnetically coupling a first fastener member to a second fastener member, wherein the first fastener member is connected to one of the surgical drape and the patient side cart, and the second fastener is connected to the other of the surgical drape and the patient side cart;

wherein magnetically coupling the first fastener member to the second fastener member comprises:

Positioning an outer surface of the first fastener member against one face of the second fastener member;

inserting the protruding portion of the first fastener member into the recess of the second fastener member,

wherein the protruding portion protrudes from the outer surface of the first fastener member,

wherein the groove is recessed from the face of the second fastener member, and

wherein the projection and the recess constrain a lateral position of the first fastener member relative to the second fastener member.

30. The method according to claim 29, wherein:

magnetically coupling the first fastener member to the second fastener member includes one of the first fastener members applying a magnetic attractive force to the other of the first fastener member and the second fastener member.